Launch CMAC with reasonable size defaults

* Use the web version Signed-off-by: Ryan Friedman <[email protected]>
ethz-asl · Feb 4, 2024 · c084630 · c084630
1 parent db43325
commit c084630
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diff --git a/launch/load_vrt_launch.xml b/launch/load_vrt_launch.xml
@@ -8,9 +8,11 @@
     <node pkg="tf2_ros" exec="static_transform_publisher" name="world_map" args="--frame-id world --child-frame-id map"/>
 
     <node pkg="grid_map_geo" exec="map_publisher" name="map_publisher" output="screen"> 
-	    <param name="gdal_dataset_path" value="/vsizip/$(find-pkg-share grid_map_geo)/resources/ap_srtm1.vrt.zip"/>
+	    <param name="gdal_dataset_path" value="/vsizip/vsicurl/https://terrain.ardupilot.org/SRTM1/ap_srtm1.zip"/>
         <param name="map_origin_latitude" value="$(var map_origin_latitude)"/>
         <param name="map_origin_longitude" value="$(var map_origin_longitude)"/>
+        <param name="max_map_width" value="4096"/>
+        <param name="max_map_height" value="4096"/>
     </node>
 
     <group if="$(var rviz)">

diff --git a/resources/ap_srtm1.vrt.zip b/resources/ap_srtm1.vrt.zip